/******************************************************************************
* AIR SYSTEMS LABORATORY
* AEROSPACE ENGINEERING
* UNIVERISTY OF TEXAS AT AUSTIN
* UAV FLIGHT SOFTWARE 
* DESCRIPTION:
*   
*
* SOURCE: 
* Orignial: 08/14/2008  Jorge Alvarez joroge@gmail.com
* Modified: 03/20/2009	Sergio García-Nieto sergarro@isa.upv.es
* $Id: imu.h 4 2009-07-21 17:12:11Z joroge@gmail.com $
*************************************************************************************/
#ifndef IMUH_
#define IMUH_

#include "globaldefs.h"

#define DELTAS_PACKET_LENGTH 31
#define RotAcelT_PACKET_LENGTH 67

#define g			9.81
#define DELTAS		0xC3
#define RotAcelT    0xC8

void imuRequest(int sPort);
void imuAcquisition(int fd, struct imu *imupacket);


#endif /*IMUH_*/
